BackAndForthMotion Class Reference

Back-and-forth motion controller using positioning mode. More...

Collaboration diagram for BackAndForthMotion:

Public Member Functions
	BackAndForthMotion (tmc51x0::TMC51x0< Esp32SPI > *driver)
	Construct a back-and-forth motion controller.
void	Config (float max_vel_rpm, float accel_rev_s2, float travel_dist_deg, int max_cycles=-1)
	Configure back-and-forth motion parameters.
void	Start ()
	Initialize and start back-and-forth motion.
bool	Update ()
	Update back-and-forth motion (call periodically).
void	Stop ()
	Stop back-and-forth motion.
uint32_t	GetCyclesCompleted () const
	Get number of completed back-and-forth cycles.

Private Attributes
tmc51x0::TMC51x0< Esp32SPI > *	driver_
	Pointer to TMC51x0 driver instance.
float	max_velocity_rpm_
	Maximum velocity in RPM.
float	acceleration_rev_s2_
	Acceleration in rev/s²
float	travel_distance_deg_
	Distance to travel in each direction (degrees)
float	center_position_deg_
	Center position (starting point) in degrees.
float	target_position_deg_
	Current target position in degrees.
bool	moving_forward_
	Direction flag (true = forward, false = backward)
bool	initialized_
	Whether motion has been initialized.
uint32_t	cycles_completed_
	Number of complete back-and-forth cycles.
int	max_cycles_
	Maximum cycles (-1 for infinite)

Detailed Description

Back-and-forth motion controller using positioning mode.

Simple back-and-forth motion using TMC51x0's positioning mode. Sets target position to one end, waits until reached, then sets target to other end. Repeats continuously until max_cycles is reached (if specified).

Constructor & Destructor Documentation

BackAndForthMotion()

BackAndForthMotion::BackAndForthMotion ( tmc51x0::TMC51x0< Esp32SPI > * driver )

inline

Construct a back-and-forth motion controller.

Parameters

driver

Pointer to TMC51x0 driver instance (must remain valid for lifetime)

Member Function Documentation

Config()

void BackAndForthMotion::Config ( float max_vel_rpm, float accel_rev_s2, float travel_dist_deg, int max_cycles = -1 )

inline

Configure back-and-forth motion parameters.

Parameters

max_vel_rpm	Maximum velocity in RPM
accel_rev_s2	Acceleration in rev/s²
travel_dist_deg	Distance to travel in each direction (in degrees)
max_cycles	Maximum number of back-and-forth cycles (-1 for infinite)

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GetCyclesCompleted()

uint32_t BackAndForthMotion::GetCyclesCompleted ( ) const

inline

Get number of completed back-and-forth cycles.

Returns

Number of cycles completed since last Start() call

Start()

void BackAndForthMotion::Start ( )

inline

Initialize and start back-and-forth motion.

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Stop()

void BackAndForthMotion::Stop ( )

inline

Stop back-and-forth motion.

Stops the motor and sets ramp mode to HOLD. Motion can be restarted by calling Start() again.

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Update()

bool BackAndForthMotion::Update ( )

inline

Update back-and-forth motion (call periodically).

Checks if target position has been reached and switches direction. Should be called from a periodic task or main loop.

Returns

true if motion is active, false if completed (max_cycles reached)

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Member Data Documentation

acceleration_rev_s2_

float BackAndForthMotion::acceleration_rev_s2_

private

Acceleration in rev/s²

center_position_deg_

float BackAndForthMotion::center_position_deg_

private

Center position (starting point) in degrees.

cycles_completed_

uint32_t BackAndForthMotion::cycles_completed_

private

Number of complete back-and-forth cycles.

driver_

tmc51x0::TMC51x0<Esp32SPI>* BackAndForthMotion::driver_

private

Pointer to TMC51x0 driver instance.

initialized_

bool BackAndForthMotion::initialized_

private

Whether motion has been initialized.

max_cycles_

int BackAndForthMotion::max_cycles_

private

Maximum cycles (-1 for infinite)

max_velocity_rpm_

float BackAndForthMotion::max_velocity_rpm_

private

Maximum velocity in RPM.

moving_forward_

bool BackAndForthMotion::moving_forward_

private

Direction flag (true = forward, false = backward)

target_position_deg_

float BackAndForthMotion::target_position_deg_

private

Current target position in degrees.

travel_distance_deg_

float BackAndForthMotion::travel_distance_deg_

private

Distance to travel in each direction (degrees)

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The documentation for this class was generated from the following file:

• internal_ramp_sinusoidal.cpp